\vspace{-3mm}
\begin{table}[b!]
  \centering
  \caption{Optimized parameter values for human functions:}
  %Table containing the parameter values of the universal constraint function (\ref{eq:universal}), for the various constraint functions. The leg slopes are denoted, $m_sl$ and $m_nsl$, for the stance and non-stance leg, respectively. The pitch angles are denoted, $\theta_{sk}$, $\theta_{nsk}$ and $\theta_{T}$, for the stance and non-stance knees and the torso, respectively. The roll angles are denoted, $\varphi_{sh}$, $\varphi_{nsh}$, and $\varphi_{sa}$,for the stance and non-stance hips and the stance ankle, respectively. And the forward position of the hip is denoted by $pos_{hip}$.}
  \begin{tabular}{|@{\hspace{1mm}}c@{\hspace{1mm}}|@{\hspace{1mm}}c@{\hspace{1mm}}|@{\hspace{1mm}} c@{\hspace{1mm}}|@{\hspace{1mm}}c@{\hspace{1mm}}|@{\hspace{1mm}}c@{\hspace{1mm}}|@{\hspace{1mm}}c@{\hspace{1mm}}|@{\hspace{1mm}}c@{\hspace{1mm}}|@{\hspace{1mm}}c@{ }|@{\hspace{1mm} }c@{\hspace{1mm} }|}
    \hline
    \multicolumn{9}{|c|}{$y^d = \frac{a_1 \cos (a_2t + a_3) + a_4 \sin (a_2t + a_3)}{e^{a_5t}} + a_6t + a_7$}\\ \hline
    f. & $a_1$ & $a_2$  & $a_3$ & $a_4$ & $a_5$ & $a_6$ & $a_7$ & Corr. \\ \hline
    $m_{sl}$ & 0 & 0 & 0 & 0 & 0 & -1.267& 0.249& 0.995 \\ \hline
    $m_{nsl}$ & 0 & 7.46 & -2.452& -0.404& 0& 0& -0.119& 0.999\\ \hline
    $\theta_{sk}$ & -0.082 & 13.31 & 0& 0.207& 4.154& 0& 0.257& 0.99 \\ \hline
    $\theta_{nsk}$& -0.380 & 10.979 & 0& 0.197& -0.421& 0& 0.658& 0.993\\ \hline
    $\varphi_{sh}$& -0.028& 14.480 & 0.830& 0.008& 1.166& 0& .206& 0.990\\ \hline
    $\varphi_{nsh}$& 0 &13.209 & -4.161& 0.053& 0& 0& 0.158& 0.992\\ \hline
    $\varphi_{sa}$& 0 & 0 & 0& 0& 0&-0.259&-0.184& 0.984\\ \hline
    $p_{hip}^{x}$& 0 & 0 & 0& 0& 0& 1.177& 0.705& 0.999\\ \hline
    $\theta_{T}$& 0 & 0 & 0& 0& 0& 0& 0.059& 0\\ \hline
  \end{tabular}
  \label{tab:hparam}
\end{table}
